Product specifications
R01AN0168ED0101 Rev. 01.01 8
Application Note
Chapter 1 Overview of ISM in the Dx4-H Series
Within the Dx4-H series, the Intelligent Stepper Motor (ISM) function supports
6 channels; this means, that 6 stepper motors can be attached and driven, with
two coils (horizontal and vertical) for each motor.
Figure 1-1 Overview of ISM within Dx4-H Series
When looking at the overview, it is obvious that the ISM contains a “standard”
stepper motor function with 6 channels (seen on the right hand side), and in
addition a “Channel Management” function, which will allow automated
operation by feeding in values into the channels.
In fact, the Channel Management function can be disabled, so that pure PWM
output control is possible by software.
In addition, functionality is included within the Channel Management, which
allows automated Zero Point Detection (ZPD), too. From the view of the
Channel Management, the regular PWM Mode and the ZPD Mode are simply
two different operation modes, how to serve a channel with values for the
output (PWM or direct port settings), and when to read and analyze values
from the ports (coil inductions).
Prescaler
Channel
Timebase
(10-bit)
Channel
H
V
D
Channel
H
V
D
Channel
H
V
D
Channel
H
V
D
Channel
H
V
D
Channel
H
V
D
Channel
Management
(CM)
I
n
f
o
-
B
u
s
ZERO
ZERO
MACRO_CLK
32 bits RAM Data
TB_CLK
APB Bus
ASSIGN_RAM
ADR
APB
Inter-
face
Table Entry
Addr./Data
Channel Access Selection &
Value Storage
Info-Bus Values
6*34 bits
2
0
b
i
t
s
2
0
b
i
t
s
2
0
b
i
t
s
2
0
b
i
t
s
2
0
b
i
t
s
2
0
b
i
t
s
STORE_
CHANNELn
Soft Reset
ZPD
Unit
6
PWM Value RAM Interface
PWM Value RAM
RAM_D
RAM_C
RAM_A
IRQ_REACHn
IRQ_REACHED
6
ZIPn
6*2
Input
Selection
IRQ_DONE
IRQ_DONE
I/O
Con-
trol
6*2*2
6*2 bits Quadrant Information CQIn
PWM_Hn
P
o
r
t
S
i
g
n
a
l
s
PWM_Vn
CQIn
ZISn
Info-
Bus
I/O
Control
I...
CHP0
CVP0
CHP1
CVP1
CHP2
CVP2
CHP3
CVP3
CHP4
CVP4
CHP5
CVP5
Current
ZPD Delay
CZDn
6*12
6
5
Configuration
Registers
Static
Settings
CM
Values
COSPFBn, COSMFBn, SINPFBn, SINMFPn
TH1n, TH2n,
TH3n, TH4n,
TV1n, TV2n,
TV3n, TV4n
Channels: n = 0...5
ZMTn
ZMTn
IRQ_ZPDAD
Anal. Measurement
Input Signals
6
ZPD_SHORTn
ZPD Blanking
(ZBTn Counters)
2*6
ZIPn, ZDRn
6
6
6
ZTRn
fm
6
CLEAR_
ZIPn
ZERO
GCB
IRQ_ZPD
IRQ_ZPD
THOUT1n, THEN1n,
THOUT2n, THEN2n,
TVOUT1n, TVEN1n,
TVOUT2n, TVEN2n